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DECLARATION
This is to certify that Thesis report entitled Power Quality Disturbance Detection and
Classification Using Signal Processing and Soft-computing Techniques. which is submitted
by me in partial fulfillment of the requirement for the award of degree M.Tech. In Electrical
Engineering to National Institute of Technology, Rourkela comprises only my original work and
due acknowledgement has been made in the text to all other material used.
Date:
Name of Student
APPROVED BY
Certificate
This is to certify that thesis entitled Power Quality Disturbance Detection and
Classification Using Signal Processing and Soft-computing Techniques which is
submitted by Sharmistha Sarkar (Industrial Electronics, Roll No: 212EE5442) in
partial fulfillment of the requirement for the award of degree M.Tech. In Electrical
Engineering to National Institute of Technology, Rourkela is a record of the
candidate own work carried out by her under our supervision. The matter embodied in
this thesis is original and has not been submitted for the award of any other degree.
Date:
ACKNOWLEDGEMENTS
Firstly, my deepest thanks to my advisor and thesis Prof. Sanjeeb Mohanty for providing me
with the support, valuable technical guidance and financial assistance through the span of the
research. I would also like to thank Prof. A K Panda and K B Mohanty for agreeing to be on my
defense committee. Their critical reviews are very much acclaimed. It is only the unparalleled
love, support and vision of my parents, loved ones and friends that made this works a reality.
Thank you one and all and lastly my whole hearted thanks to the Department of Electrical
Engineering at the National Institute of Technology, Rourkela for all the resources that helped
me in successfully completing my degree requirements.
Abstract
The quality of electric power and disturbances occurred in power signal has become a major
issue among the electric power suppliers and customers. For improving the power quality
continuous monitoring of power is needed which is being delivered at customers sites.
Therefore, detection of PQ disturbances, and proper classification of PQD is highly desirable.
The detection and classification of the PQD in distribution systems are important tasks for
protection of power distributed network. Most of the disturbances are non-stationary and
transitory in nature hence it requires advanced tools and techniques for the analysis of PQ
disturbances. In this work a hybrid technique is used for characterizing PQ disturbances
using wavelet transform and fuzzy logic. A no of PQ events are generated and decomposed
using wavelet decomposition algorithm of wavelet transform for accurate detection of
disturbances. It is also observed that when the PQ disturbances are contaminated with noise
the detection becomes difficult and the feature vectors to be extracted will contain a high
percentage of noise which may degrade the classification accuracy. Hence a Wavelet based denoising technique is proposed in this work before feature extraction process. Two very distinct
features common to all PQ disturbances like Energy and Total Harmonic Distortion (THD)
are extracted using discrete wavelet transform and are fed as inputs to the fuzzy expert
system for accurate detection and classification of various PQ disturbances. The fuzzy expert
system not only classifies the PQ disturbances but also indicates whether the disturbance is
pure or contains harmonics. A neural network based Power Quality Disturbance (PQD)
detection system is also modeled implementing Multilayer Feed forward Neural Network
(MFNN).
LIST OF TABLES
Table
Number
Table Caption
Page Number
28
TABLE 4.2 Frequency Bank Distributed for 12.8 KHz sampling rate
28
TABLE 4.3 Frequency Bank Distribution for 6.4 KHz sampling rate
29
29
32
40
TABLE 6.2 Classification Results of MFNN & PNN for three classes
40
40
41
LIST OF FIGURES
Figure
Number
Figure Caption
Page
Number
Fig 3.1
20
Fig 3.2(a)
21
Fig 3.2(b)
21
Fig 3.3(a)
21
Fig 3.3(b)
21
Fig 3.4(a)
22
Fig 3.4(b)
22
Fig 3.5(a)
23
Fig 3.5(b)
23
Fig 3.5(c)
29
Fig 3.5(d)
29
Fig 3.5(e)
29
Fig 3.5(f)
30
Fig 3.5(g)
30
Fig 3.5(h)
30
Fig 3.5(i)
31
Fig 5.1
Architecture of MFNN
33
Fig 6.1
Architecture of PNN
41
LIST OF ABBREVIATIONS
PNN
BPA
CWT
DWT
FT
Fourier Transform
MFNN
NN
Neural Network
PE
Processing Elements
PQ
Power Quality
PQD
RMS
STFT
THD
WT
Wavelet Transform
Contents
TITLE
DECLARATION
i
ii
ACKNOWLEDGEMENT
iii
ABSTRACT
iv
LIST OF TABLES
LIST OF FIGURES
vi
LIST OF ABBREVIATIONS
vii
Chapter1 Introduction
1.1 Introduction
11
11
12
12
12
13
13
13
14
15
16
2.4.3 Interruption
17
17
17
18
18
19
19
20
22
23
3.5.2 Summary
25
26
4.2 Features
26
26
27
30
30
5.2.1 Introduction
30
31
32
5.2.4 Summary
33
34
35
36
36
6.4.1 Theory
37
40
7.2 Conclusion
41
Reference
42
10
Chapter 1 INTRODUCTION
1.1 Introduction:
Now-a-days, the equipments which are being used in electrical utilities, those are more
sensitive to Power Quality. These equipments contain power electronic components
which are sensitive to power disturbances. So, any type of disturbance occurs in the
voltage current or frequency of the power signal that can also affect the customers side
which is called power quality problem. So, electrical utilities and customers both are
aware of the power quality disturbances. Degradation in quality of power is mainly
caused by disturbances such as voltage swell, voltage sag, notch, transients, and harmonic
distortions and so on. Since, the electric motor draws more current when they are starting
than they are running at their rated speed. So, starting of an electric motor can be the
reason of voltage sag. Energization of a large capacitor bank can also cause voltage swell.
In practical distribution network to improve power quality, such disturbances should be
identified first before appropriate mitigation can be taken.
11
12
13
14
behavior of load relates to the size of cable in the system, the proper mitigation technique and
protective system. One should realize that most of the PQ problems are originated from the load.
Another problem on obtaining high PQ level is the effects of natured causes such as lightning,
animal and man-made problem. These types of problem cannot be avoided from the system. A
good protective system should be developed for stopping the problem into wider area.
15
7) Notch Area
For the non-steady state phenomena, different characteristic is applied to classify the type of
phenomena. The phenomena are as follows [7, 13]:
1) Rate of rise
2) Amplitude
3) Duration
4) Spectrum
5) Frequency
6) Rate of occurrence
7) Energy potential
8) Source impedance
Stone and Collisson has stated further description of these phenomena [35]; whereby the
phenomena were divided into nine main parts referred to time deviation and frequency deviation.
The characterization for PQ phenomena is applicable for the utilities, manufacturers and
consumers side to guide them for proper mitigation action. In this study, five power disturbances,
which have one or more characteristics listed as PQ phenomena, are selected for further analysis.
These five disturbances are voltage sag, voltage swell, interruption, oscillatory transient and
impulsive transient. The choice of disturbances was motivated by the available literature on
disturbance waveform [8]
16
voltage is longer then 1-minute, under voltage term is used. Generally, voltage sag is divided into
three classes based on the duration of the occurrences. The classes are instantaneous sag,
momentary sag and temporary sag [7].
2.4.3 Interruption:
Interruption is defined as the decrement in rms voltage less that 0.1 p.u. Most of the interruption
occurs after the voltage sag. The interruption is resulted from the loose connection, severe fault
and reclosing of circuit breaker. For the reclosing of circuit breaker action, transient phenomena
followed by interruption can be observed. The interruption results in nuisance tripping and
misoperation of the overall system. Interruptions show that the voltages are almost zero and no
more supply available into the system.
17
instantaneous change of the magnitude during transient occurrences can be positive or negative
in polarity. The transient may originate from capacitor switching, reclosing of circuit breaker and
load switching [7].
2.5 Summary:
The overview of PQ has been discussed in this chapter. The varieties of the voltages in PQ field
give a lot of information for the PQ level in electrical system. Every definition and characteristic
of the disturbances has been described. The patterns of voltage or PQ disturbances need to be
identified for preventive action in order to avoid the cumbersome problem in electrical system.
In view of the above shortcomings, the following chapter explores the current technique for the
identification of PQ disturbance that is commonly used in PQ field.
18
19
( , )=
( )
- - - - (3.1)
is the normalization value of a,b(t) for having spectrum power as same as mother
wavelet in every scale. The DWT is introduced by considering sub band decomposition using the
digital filter equivalent to DWT.The filter bank structure is shown in Figure 2.1.The Band pass filter
is implemented as a low pass and high pass filter pair which has mirrored charecteristics.While the
low pass filter approximates the signal. The high pass filter provides the details lost in the
approximation. The approximations are low frequency high scale component whereas the details are
high frequency low scale component.
20
and Swell with harmonics are generated with different magnitudes using MATLAB.
21
22
Voltage Sag
Voltage Swell
Fig 3.3(a)
23
Fig 3.3(b)
Fig 3.3(a) & Fig 3.3(b) Swell Disturbance with fs=6.4 kHz
Voltage Interruption
Fig 3.4(a)
Fig 3.4(b)
Fig 3.4(a) & Fig 3.4(b) Interruption Disturbance with fs=6.4kHz
24
25
26
27
3.5.2 Summary :
From the decomposition of the disturbance shown in Figure 3.2(a) and Figure 3.2(b) it is seen that
disturbance occurred at 1250 to 2500 samples or 0.2 to 0.4 second interval of the signal which is
confirmed from the result shown in Figure 3.5(h) and Figure 3.5(i).Reduction in nominal value of
the waveform can be marked from the approximate and detail coefficient of level4 decomposition
as shown in Figure 3.5(f) and Figure 3.5(g).The reconstructed approximate waveform shown
in Figure 3.5(h) also perfectly resembles with input disturbance waveform shown in Figure
3.2(b) which confirmed the disturbance to be the voltage Sag and proves the accurate detection of
the disturbance.
In this way ,the other PQ disturbances Swell, Interruption can be decomposed.
28
4.2 Features:
4.2.1 Total Harmonic Distortions (THD):
The total harmonic distortion, or THD, of a signal is a measurement of the harmonic
distortion present and is defined as the ratio of the sum of the powers of all harmonic
components to the power of the fundamental frequency. THD is used to characterize the linearity
of audio systems and the power quality of electric power systems.
When the input is a pure sine wave, the measurement is most commonly the ratio of the sum of
the powers of all higher harmonic frequencies to the power at the first harmonic, or fundamental,
frequency. Measurements based on amplitudes (e.g. voltage or current) must be converted to
powers to make addition of harmonics distortion meaningful. For a voltage signal, for example,
the ratio of the squares of the RMS voltages is equivalent to the power ratio. THD is also
commonly defined as an amplitude ratio rather than a power ratio, [resulting in a definition of
THD which is the square root of that given as follows:
RMS=
( ) - - - - - - - (4.1)
29
Where Nj is the no of detail coefficients at scale j while THD is calculated by considering each
sub-band contribution [11-12] as shown in equation ().The sampling frequency selected is 6.4
kHz or 128f1. In this paper, the fundamental frequency is 50 hertz and used six level of WT thus
the output should receive the sub-band as follows:
( )
( )]
- - - - - - - (4.2)
ENERGY:
The energy of the signal is calculated using parsevals theorem [10] which states that if S(t) is the
voltage across the resistor or current through the resistor then the energy dissipated is
E= | ( )| dt - - - - - (4.3)
In wavelet domain the signal is decomposed into the approximate and detailed coefficients and
therefore energy dissipated by the signal in terms of approximate and detail coefficients given by
E=
( )
( )
- - - - - (4.4)
Where Cj (k) is approximate coefficient at jth level and Dj (k) is detail coefficient at jth level.
30
TABLE 4.2
FREQUENCY BANK DISTRIBUTION FOR 12.8 KHZ SAMPLING RATE
Decomposition level
Frequency range
(fs = 12.8 KH z)
Approximation(a)
Detailed(d)
1
2
3
0 to 3.2 KHz
0 to 1.6 KHz
0 to 800 Hz
0 to 400 Hz
400 Hz to 800 Hz
5
6
7
8
0 to 200 Hz
0 to 100 Hz
0 to 50 Hz
0 to 25Hz
200 Hz to 400 Hz
100 Hz to 200 Hz
50 Hz to 100Hz
25 Hz to 50 Hz
31
TABLE 4.3
FREQUENCY BANK DISTRIBUTION FOR 6.4 KHZ SAMPLING RATE
Decomposition level
Frequency range
(fs = 6.4 KH z)
Approximation(a)
Detailed(d)
1
2
0 to 1.6 KHz
0 to 800 KHz
0 to 400 Hz
0 to 200 Hz
200 Hz to 400 Hz
5
6
7
8
0 to 100 Hz
0 to 50 Hz
0 to 25Hz
0 to 12.5Hz
100 Hz to 200 Hz
50 Hz to 100 Hz
25 Hz to 50Hz
12.5 Hz to 25 Hz
TABLE 4.4
Classification by Unique Features for the Disturbance Signal
Signal
Feature
st
From 1 level
detailed
Level 4
detail
energy
Peak energy
cycle
voltage(rms)after
occurrence
-
Duration
Repeat
Pure
Sine
no
At level 7th
Sag
> cycle
no
At level 7th
Swell
> cycle
no
Interrupt
> cycle
no
>0.1
And <0.8
At level 7th
>1.1
At level 7th
<0.1
32
33
34
Classification of PQ Disturbances
C1
C2
Sag Signal
C3
Swell Signal
C4
TABLE 4.5
Classification Results MFNN
Summary:
The Detection and classification of PQ disturbances is an important issue in the power
quality analysis as before any mitigation action, the type of disturbance and the point of
35
disturbance are needed to take the corrective measure. In this work six different PQ
disturbances are considered that includes complex disturbances like sag with harmonics
and swell with harmonics for the characterization purpose. First of all these disturbances
are decomposed into various levels using wavelet decomposition algorithm of wavelet
transform and detected the point of disturbance along with the type of disturbance. This
shows that the wavelet transform as a signal processing tool is quite efficient in
analysing the PQ disturbances that may be stationary or non-stationary in nature. The
WT is a frequency domain approach where the signals are analyzed at different frequency
resolution levels. The Problem is encountered in detection when the signal is
contaminated with a high density of noise or low signal to noise ratio. Also the feature
vector to be extracted for the classification purpose will contain high percentage of noise
which may degrade the classification accuracy.
36
P[n/NT]e^(i2nk/N) (6.2)
37
S[n/NT,jT]=
P[min/NT]G(n,m)e^(i2mj/N) (6.3)
38
fast for PNN, thats why single pass network training is required even without any iteration PNN
can adapt architectural changes itself. The learning efficiency of PNN is fast and structure of
PNN is very simple. Comparing to MFNN and LVQ performance of PNN is more effective.
A standard probabilistic neural network consists of following layers:
Input layer.
Pattern layer
Summation layer
Output layer
Advantages:
Training process for PNN is faster than other neural network (NN).
Structure of PNN is inherently parallel.
As the size of representative training set increases, PNN can converge to an
optimal classifier.
There are no local minima issues in case of PNN.
Without extensive retraining, training samples can be added or removed.
Disadvantages:
PNN require large memory.
Execution of network for PNN is slower.
Representative training set requirement.
Unlike back propagation PNN is not as general.
Classification Theory:
If the probability density function (pdf) of each of the populations is known, then an
Unknown, X, belongs to class i if:
( )>
( ), all
39
( )>
Training Set:
Training set is thoroughly representative of the actual population.
PNN is more demanding compound to other neural networks.
40
TABLE 6.2
41
TABLE 6.3
Comparison of Accuracies with Three and Four Features
TABLE 6.4
Comparative Analysis Performance PNN & MFNN
42
In this paper, the effect of noise has not been discussed . In the further research work, the
effect of noise part will be included. Instead of simulated signal, the real distorted signal which is
measured by digital recorder can also be included in further research work and through a dsPIC
based hardware, it can be implemented by real time.
7.2 Conclusion:
In this paper, firstly it is tried to classify pure sine and PQ disturbances such as voltage sag,
voltage swell, and voltage with harmonics, transients and flicker at power system frequency.
Before classification stage, data is normalized then five PQ disturbances and pure sine are
decomposed by using 12 levels Daubechies-4 discrete wavelet filter and energy distributions of
detail coefficients of PQ disturbances and pure sine are obtained. Pure sine is taken as a
reference. When looking at variations in feature vector for PQ disturbances signals and pure sine,
it is seen they are distinguished as visual and also data size is reduced. After obtaining feature
vector, powerful classifier MFNN is used in classification stage 97.905 % average performance
is obtained. This thesis proposed two kinds of classification algorithms for the disturbance types
considered and could successfully use one of those algorithms to achieve a very high error
classification rate. The use of wavelet multi-resolution analysis standard deviation curves along
with fourier domain parameters with the help of a 4 layer feed forward neural network proved to
achieve almost a zero error rate for the considered datasets. Also, the insights provided in this
thesis on using clustering based wavelet MRA energy parameters along with Adaptive
Resonance theory classification algorithms is worth further investigation.
43
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